gaoyifan/RTAI installation for ubuntu 14.04.md

## RTAI installation for ubuntu 14.04.md

      
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              RTAI installation for ubuntu 14.04.md
            
          
    RTAI installation for ubuntu 14.04

Preparation

download and unzip

cd /usr/src
curl -L https://www.rtai.org/userfiles/downloads/RTAI/rtai-4.1.tar.bz2 | tar xj
curl -L https://www.kernel.org/pub/linux/kernel/v3.x/linux-3.10.32.tar.xz | tar xJ
curl -L http://kernel.ubuntu.com/~kernel-ppa/mainline/v3.10.32-saucy/linux-image-3.10.32-031032-generic_3.10.32-031032.201402221635_amd64.deb -o linux-image-3.10.32-generic-amd64.deb
dpkg-deb -x linux-image-3.10.32-generic-amd64.deb linux-image-3.10.32-generic-amd64

link (optional)

ln -s linux-3.10.32 linux
ln -s rtai-4.1 rtai

package requirement

update apt-get list
apt-get update

General:
apt-get install cvs subversion build-essential git-core g++-multilib gcc-multilib bc

Rtai
apt-get install libtool automake libncurses5-dev kernel-package

scilab 5.5.0
apt-get install default-jre docbook-xsl fop javahelp2 libavalon-framework-java libbatik-java libfftw3-3 libflexdock-java libgfortran3 libhdf5-7 libjeuclid-core-java libjgoodies-looks-java libjgraphx-java libjhdf5-java libjlatexmath-fop-java libjlatexmath-java libjogl-java libjrosetta-java liblapack3gf libncurses5 libpcre3 libpvm3 libquadmath0 libsaxon-java libskinlf-java libstdc++6 libtinfo5 libxml2 tcl8.5 tk8.5 zlib1g libgcc1 libc6 libblas-dev libblas3gf libatlas3gf-base gfortran liblapack-dev

qrtailab
apt-get install libqt4-dev libqwt5-qt4-dev

compile RTAI Linux kernel

copy ubuntu kernel 3.10 original config
cp /usr/src/linux-image-3.10.32-generic-amd64/boot/config-3.10.32-031032-generic /usr/src/linux/.config

patch for kernel
cd /usr/src/linux
patch -p1 < /usr/src/rtai/base/arch/x86/patches/hal-linux-3.10.32-x86-5.patch

config
make menuconfig

Set up the kernel settings as follows
Processor type and features
	-> Processor family = Select yours
	-> Maximum number of CPUs (NR_CPUS) = Set your number (it's generally "4")
	-> SMT (Hyperthreading) scheduler support = DISABLE IT
Power Management and ACPI options
	CPU idle PM support = DISABLE IT

build
make -j `getconf _NPROCESSORS_ONLN` deb-pkg LOCALVERSION=-rtai 

install
dpkg -i linux-image-3.10.32-rtai_3.10.32-rtai-1_amd64.deb
dpkg -i linux-headers-3.10.32-rtai_3.10.32-rtai-1_amd64.deb

modify grub config, set GRUB_CMDLINE_LINUX_DEFAULT as:
GRUB_CMDLINE_LINUX_DEFAULT="quiet splash lapic=notscdeadline"

apply grub config
update-grub

Now, reboot your system. choose the RTAI in GRUB boot menu.
RTAI installation

Now that the system has restarted, make sure you booted on your RTAI kernel
uname -r 

it should show:
3.10.32-rtai

config RTAI
cd /usr/src/rtai
make menuconfig

UPDATE the CPUs number according to your configuration.
build
make -j `getconf _NPROCESSORS_ONLN`

install
make install

add following line to your  ~/.bashrc (if you use bash)
export PATH=/usr/realtime/bin:$PATH 
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/realtime/lib

use new environment variable
source ~/.bashrc

Create a file /etc/ld.so.conf.d/rtai.conf with the content
/usr/realtime/lib

run ldconfigin order to take it into account
ldconfig

Now, run latency test:
cd /usr/realtime/testsuite/kern/latency
./run